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firestar5683
62 lines
3.0 KiB
Python
62 lines
3.0 KiB
Python
"""Bounded optional-worker evidence for a stalled source bootstrap; no admission."""
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from openpilot.starpilot.flm.source_observation_report import refusal_report
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WAIT_NS = 5_000_000_000
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INTERVAL_NS = 60_000_000_000
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class SourceStallLog:
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def __init__(self, emit=None):
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self.emit = emit
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self.started_ns = self.last_ns = None
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def observe(self, collector, *, now_ns, bootstrap_allowed, context_error=None):
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try:
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if type(now_ns) is not int or now_ns <= 0:
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return
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if self.started_ns is None or now_ns < self.started_ns:
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self.started_ns = now_ns
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self.last_ns = None
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if now_ns - self.started_ns < WAIT_NS or self.last_ns is not None and now_ns - self.last_ns < INTERVAL_NS:
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return
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# Reserve the slot before any optional observation or logging can fail.
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self.last_ns = now_ns
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capture = getattr(collector, 'original_source_capture', None)
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ready = () if collector is None else collector.ready
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command, output = ready[-1] if ready else (None, None)
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error = None if context_error is None else (type(context_error).__name__ + ': ' + str(context_error))[:192]
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phase = ('bootstrap_deferred' if not bootstrap_allowed else 'collector_unavailable' if collector is None else
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'current_pair_unavailable' if not ready else 'original_capture_unavailable' if capture is None else
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'original_pose_unavailable' if not capture.rows else 'source_context_rejected' if error else 'source_context_pending')
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evidence = {
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'observedMonoTime': now_ns, 'phase': phase, 'contextError': error,
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'scope': 'optional learner receiver; not a Controls publisher rejection or authority receipt',
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'readyPairs': len(ready), '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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'poses': 0 if capture is None else len(capture.rows),
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'captureReason': None if capture is None else str(capture.reason)[:128],
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'captureRejected': 0 if capture is None else capture.rejected,
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'captureError': getattr(getattr(collector, 'adapter', None), 'source_plant_capture_error', None),
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'sourceObservation': None if collector is None else refusal_report(collector),
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}
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if self.emit is None:
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from openpilot.common.swaglog import cloudlog
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cloudlog.event('auto_learn_source_stall', error=True, **evidence)
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else:
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self.emit(evidence)
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except Exception:
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# Logging cannot change collection, rejection, authority or shutdown.
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pass
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def log_source_stall(actor, collector, *, now_ns, bootstrap_allowed, context_error=None):
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try:
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logger = getattr(actor, '_source_stall_log', None)
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if logger is None:
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logger = actor._source_stall_log = SourceStallLog()
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logger.observe(collector, now_ns=now_ns, bootstrap_allowed=bootstrap_allowed, context_error=context_error)
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except Exception:
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pass
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