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firestar5683
6103e0395b
The d5 Ioniq 6 logs repeatedly reset source tracking when Card repeats a command that already arrived on time. Discard only a recent unchanged repeat after the existing native CAN verifier succeeds; add no sample, application time or permission. Use independently admitted pending CarState brackets to complete original poses without waiting for that command to reach Card. Classify stale control source clocks as transient stale evidence, preserving the original bounded study deadline. Replace Python character loops with equivalent strict text predicates. Validation: focused regression suite and paced d5 replay with original Card command references; actual controller/CAN trial application and worsening-trial rollback. No timing/acceptance threshold changes or claimed road improvement.
39 lines
1.9 KiB
Python
39 lines
1.9 KiB
Python
"""Original consumed vehicle states; no actuation or physical permission."""
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from openpilot.starpilot.flm.fullrate_collector import ControlEvidence, JOIN_NS, MAX_AGE_NS
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def state_brackets(collector, identity, now_ns):
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states = {}
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def add(control):
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if (control.identity, control.generation, control.source_epoch, control.baseline_revision,
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control.controller_revision, control.native_identity) != identity:
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return
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values = dict(control.replay_inputs)
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if 'vEgo' in values and 'steeringAngleDeg' in values:
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row = (float(values['vEgo']), float(values['steeringAngleDeg']))
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if control.state_ns in states and states[control.state_ns] != row:
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raise ValueError('conflicting original vehicle state brackets')
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states[control.state_ns] = row
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for control, _ in collector.ready:
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add(control)
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# These controls already passed collector admission. Their independently
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# recorded CarState can bracket a pose before Card emits their command.
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# The observer still requires its original joined native pair; these rows
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# supply only speed/angle, and never enter ready or renew any witness.
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for control in collector.controls.values():
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if (type(control) is not ControlEvidence or control.domain != collector.ready[-1][0].domain
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or control.native_required is not collector.ready[-1][0].native_required
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or not control.enabled or not control.active or not control.valid
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or control.manual or control.override or control.fault or control.saturated
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or not 0 < control.state_ns <= control.control_ns <= now_ns
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or control.control_ns - control.state_ns > JOIN_NS or now_ns - control.control_ns > MAX_AGE_NS):
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continue
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if control.native_required and (not control.native_allowed or
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not 0 < control.native_observed_ns <= control.control_ns <= control.native_expires_ns <= control.native_observed_ns + 200_000_000):
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continue
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add(control)
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return states
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