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firestar5683
ec8d7eb98b
Define persistent settings, typed schema fields and storage migrations before feature owners consume them. Keep calibration and parameter readers aligned with the shared data contracts. Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: Harald Schäfer <harald.the.engineer@gmail.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com> Co-authored-by: Dom <168790843+firestar5683@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
69 lines
2.8 KiB
Python
69 lines
2.8 KiB
Python
"""Pure fresh offroad evidence shared by local saved-setting action owners.
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Python deviceState stamps MONOTONIC; C++ pandad stamps BOOTTIME on Linux.
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"""
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from dataclasses import dataclass
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import os
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DEVICE_TTL_NS = 1_500_000_000 # 2 Hz publisher, allowing one missed frame.
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PANDA_TTL_NS = 300_000_000 # 10 Hz publisher, allowing one missed frame.
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RESUME_SKEW_NS = 5_000_000
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def host_parked(environ=os.environ) -> bool:
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"""./dev galaxy, ./c3 and ./c4 have no car or drive-state publishers; they are always parked.
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Only those launchers set SP_HOST_PARKED. Route replay (./onroad) keeps its recorded drive state.
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"""
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prefix = environ.get("OPENPILOT_PREFIX", "")
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return (environ.get("SP_HOST_PARKED") == "1" and environ.get("SP_HOST_RUNTIME") == "1" and
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bool(prefix) and prefix == environ.get("SP_HOST_PREFIX"))
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@dataclass(frozen=True)
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class ParkedEvidence:
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manager_offroad: bool
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device_seen: bool
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device_alive: bool
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device_valid: bool
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device_started: bool
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device_stamp_mono_ns: int
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device_recv_mono_ns: int
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device_boot_minus_mono_at_recv_ns: int | None
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device_after_mono_ns: int # Collector must set a startup/resume barrier before receiving evidence.
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panda_seen: bool
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panda_alive: bool
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panda_valid: bool
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panda_stamp_boot_ns: int
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panda_recv_mono_ns: int
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panda_ignition: tuple[bool, ...]
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def fresh_offroad(evidence: ParkedEvidence, *, now_mono_ns: int, now_boot_ns: int) -> bool:
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"""Confirm effective offroad mode, including Force Offroad with ignition on."""
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e = evidence
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if (not e.manager_offroad or not all((e.device_seen, e.device_alive, e.device_valid,
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e.panda_seen, e.panda_alive, e.panda_valid)) or
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e.device_started or e.device_boot_minus_mono_at_recv_ns is None or
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not e.panda_ignition or
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min(e.device_stamp_mono_ns, e.panda_stamp_boot_ns, e.device_recv_mono_ns, e.panda_recv_mono_ns) <= 0 or
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e.device_stamp_mono_ns <= e.device_after_mono_ns):
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return False
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device_mono_age = now_mono_ns - e.device_stamp_mono_ns
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device_boot_age = now_boot_ns - (e.device_stamp_mono_ns + e.device_boot_minus_mono_at_recv_ns)
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panda_boot_age = now_boot_ns - e.panda_stamp_boot_ns
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device_receipt_age = now_mono_ns - e.device_recv_mono_ns
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panda_receipt_age = now_mono_ns - e.panda_recv_mono_ns
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return (0 <= device_mono_age <= DEVICE_TTL_NS and
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-RESUME_SKEW_NS <= device_boot_age <= DEVICE_TTL_NS and
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0 <= panda_boot_age <= PANDA_TTL_NS and
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0 <= device_receipt_age <= DEVICE_TTL_NS and
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0 <= panda_receipt_age <= PANDA_TTL_NS)
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def fresh_parked(evidence: ParkedEvidence, *, now_mono_ns: int, now_boot_ns: int) -> bool:
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"""Confirm fresh offroad mode with ignition off for operations that require it."""
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return not any(evidence.panda_ignition) and fresh_offroad(evidence, now_mono_ns=now_mono_ns, now_boot_ns=now_boot_ns)
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