firestarsdog
2.7 KiB
SLC offset and speed coordinates
speed_domain.resolve binds an actual acceptance decision to an explicit offset
schedule and current raw/cluster speed pairs. Every number is m/s except the
input to selected_pair_from_kph, which converts a selected cluster value from
km/h. Each valid pair carries the same session ID and monotonic nanosecond
timestamp as the acceptance decision; a mismatch is invalid. The schedule
contains explicit half-open bands with signed m/s offsets;
it supplies no settings defaults or source freshness policy. A missing band or
unavailable target/pair produces UNAVAILABLE; malformed values produce
INVALID. SpeedPair contains measured cluster speed, which may be below raw
speed; resolution clamps each delta to max(cluster - raw, 0). A nonvalid
resolution with a context is malformed and triggers the override session-reset
contract. Only a VALID context may enter overrides.step(domain=...).
A finite negative offset that would make the target nonpositive in cluster or planner coordinates is ignored for that limit. The unadjusted accepted limit is used instead; the result stays within the ordinary cruise-speed bounds. Malformed schedules still fail validation.
Call order is acceptance, domain resolution, override reduction, then
to_planner_coordinate(context, contribution_raw_mps, basis). The reducer
compares current selected and retained intent against accepted raw + offset
in cluster coordinates. It keeps retained intent in raw selected-speed units,
even when the current selected value later changes for an unrelated reason.
The conversion adds the current qualified selected cluster delta to that
retained raw speed. A current pedal contribution uses the current ego cluster
delta. The larger of limit plus offset and override is converted to planner
coordinates by subtracting the ego cluster delta exactly once. A nonpositive
result gives no coordinate. The coordinate validates the composition; it is not
a separate live planner ceiling. Runtime commands use the accepted adjusted
cluster target to update Card's SET speed. See the controller contract.
These helpers are pure; the live composition supplies the qualified inputs. They have no Params access, source freshness policy or vehicle output. Current SLC overrides come from qualified SET changes. Accelerator use does not create an SLC override; ordinary actuator gating owns the temporary pedal override.
The tests compose actual acceptance and causal override decisions, including retained raw intent with a changed current selected value, offset changes, negative offsets, missing coordinates, and one native planner/MPC case. These are deterministic software contracts, not on-road qualification.