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https://github.com/firestar5683/StarPilot.git
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firestar5683
41 lines
1.5 KiB
Python
41 lines
1.5 KiB
Python
"""Optional learner-only current native health; no Card/Controls revalidation."""
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def current_native_health(sm, cp, control, now_ns):
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try:
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from openpilot.starpilot.flm.runtime_adapter_registry import current_authority
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allowed, state, identity = current_authority(sm, cp, now_ns=now_ns, required=control.native_required)
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if not control.native_required:
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return bool(allowed)
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return bool(
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allowed
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and state is not None
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and control.native_allowed
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and 0 < control.native_observed_ns <= control.control_ns <= control.native_expires_ns
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and control.control_ns <= now_ns
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and identity == control.native_identity
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)
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except (AttributeError, KeyError, TypeError, ValueError, OverflowError):
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return False
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def current_ford_native_health(sm, cp, row, now_ns):
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"""Original same-call public-native witness belongs to emitted announced CC."""
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try:
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from openpilot.starpilot.flm.runtime_adapter_registry import current_ford_authority
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allowed, identity = current_ford_authority(sm, cp, now_ns=now_ns)
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return bool(
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allowed
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and row.native_allowed
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and row.native_identity
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and identity == row.native_identity
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and 0 < row.native_observed_ns <= row.native_validated_ns <= row.event_ns <= row.native_expires_ns
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and row.event_ns <= now_ns
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and row.native_command_ns == row.announced_control_ns
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and row.native_command_ns > 0
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)
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except (AttributeError, KeyError, TypeError, ValueError, OverflowError):
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return False
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