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firestar5683
60 lines
3.0 KiB
Python
60 lines
3.0 KiB
Python
"""Bounded optional learner observations; never admission or publisher proof."""
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_SERVICES = ('deviceMotion', 'extrinsicsCalibration', 'carState', 'driverMonitoringState')
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def _snapshot(collector, sm, now_ns, reason):
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ready = collector.ready
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command, output = ready[-1] if ready else (None, None)
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return {
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'reason': reason, 'observedMonoTime': now_ns, 'readyPairs': len(ready),
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'currentNative': bool(getattr(collector, '_learning_current_native_allowed', False)),
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'controlMonoTime': None if command is None else command.control_ns,
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'applyMonoTime': None if output is None else output.apply_ns,
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'originalNativeObservedMonoTime': None if command is None else command.native_observed_ns,
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'originalNativeValidUntilMonoTime': None if command is None else command.native_expires_ns,
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'receiver': {
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service: {
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'seen': bool(sm.seen[service]), 'alive': bool(sm.alive[service]),
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'valid': bool(sm.valid[service]), 'freqOk': bool(sm.freq_ok[service]),
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'sourceEventMonoTime': int(sm.logMonoTime[service]),
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'receivedMonoTime': int(sm.recv_time[service] * 1e9),
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} for service in _SERVICES
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},
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}
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def record_refusal(collector, sm, now_ns, reason, *, error=None):
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"""Existing rejected branches only; at most two snapshots per collector."""
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try:
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counts = getattr(collector, '_source_observation_refusals', None)
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if counts is None:
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counts = collector._source_observation_refusals = {}
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if reason in counts or len(counts) < 24:
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counts[reason] = counts.get(reason, 0) + 1
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collector._source_observation_current_refusal = (reason, now_ns)
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if error is not None:
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collector._source_observation_exception = {'observedMonoTime': now_ns, 'type': type(error).__name__, 'message': str(error)[:192]}
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if not getattr(collector, '_source_observation_first_attempted', False):
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collector._source_observation_first_attempted = True
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collector._source_observation_first_refusal = _snapshot(collector, sm, now_ns, reason)
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if collector.ready and not getattr(collector, '_source_observation_ready_attempted', False):
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collector._source_observation_ready_attempted = True
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collector._source_observation_ready_refusal = _snapshot(collector, sm, now_ns, reason)
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except Exception:
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# Observability must not alter rejection, reset, clock or driving behavior.
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pass
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def refusal_report(collector):
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current = getattr(collector, '_source_observation_current_refusal', None)
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return {
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'publisherRefusal': 'unknown_not_transmitted',
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'scope': 'learner receiver only; not the Controls publisher admission reason',
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'counts': dict(getattr(collector, '_source_observation_refusals', {})),
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'lastRefusal': None if current is None else {'reason': current[0], 'observedMonoTime': current[1]},
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'lastException': getattr(collector, '_source_observation_exception', None),
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'firstRefusal': getattr(collector, '_source_observation_first_refusal', None),
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'firstReadyPairRefusal': getattr(collector, '_source_observation_ready_refusal', None),
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}
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