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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.
43 lines
2.6 KiB
Python
43 lines
2.6 KiB
Python
"""Discard an unchanged repeat without admitting a late actuation sample."""
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def redundant_late_output(collector, control, output):
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from openpilot.starpilot.flm.fullrate_collector import JOIN_NS
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from openpilot.starpilot.flm.torque_eligibility import consumed_sources_current
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from opendbc.car.steering_projection import TorqueProjection, projection_to_dict
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live = collector.live_tracking
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if (live is None or getattr(getattr(live, 'episodes', None), 'source_tracking', False) is not True
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or getattr(collector, '_learning_current_native_allowed', False) is not True
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or control.domain != 'normalized_torque' or output.domain != control.domain or not collector.ready):
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return False
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previous_control, previous = collector.ready[-1]
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if (previous_control is not control or not consumed_sources_current(control, previous)
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or not control.state_ns <= control.control_ns <= output.state_ns <= output.apply_ns
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or control.control_ns - control.state_ns > JOIN_NS or output.apply_ns - output.state_ns > JOIN_NS
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or output.apply_ns - control.control_ns <= JOIN_NS
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or not previous.apply_ns < output.apply_ns <= previous.apply_ns + JOIN_NS
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or not control.enabled or not control.active or not control.valid or control.manual or control.override or control.fault
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or control.saturated or control.model_wobble
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or any(not row.valid or not row.active or row.override or row.fault or row.limited or not row.native_allowed
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for row in (previous, output))):
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return False
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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 <= output.apply_ns <= control.native_expires_ns <= control.native_observed_ns + 200_000_000):
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return False
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old, new = previous.projection, output.projection
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if (type(old) is not TorqueProjection or type(new) is not TorqueProjection
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or projection_to_dict(old) is None or projection_to_dict(new) is None
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or output.control_ns != control.control_ns or output.applied != previous.applied
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or new.requested_torque != control.requested or new.reported_torque != output.applied or not new.steer_requested):
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return False
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# Current CAN bytes/counter and native prestate are independently verified
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# below. Every other encoded command/codec field must remain exactly equal.
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changing = {'frame', 'can_data', 'previous_torque', 'measured_torque'}
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if any(getattr(old, name) != getattr(new, name) for name in TorqueProjection._fields if name not in changing):
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return False
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replay = getattr(collector.adapter, 'replay', None)
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if replay is None:
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return False
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return replay.applied_matches(control, output) is True
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