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firestarsdog
37 lines
2.2 KiB
Markdown
37 lines
2.2 KiB
Markdown
# Live Maps source boundary
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`plannerd` subscribes to `mapdOut` when SLC transport is available.
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`runtime.py` samples the Maps adapter when Maps is configured or a highest/lowest
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selection policy considers it. The [controller contract](README.md) owns adoption,
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confirmation and car-control behavior.
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`map_source.MapTracker` validates v2 wire structure, source ordering and freshness.
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It exposes diagnostics, not a valid SLC candidate. `map_observation.MapSource`
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projects a fresh `matchedLimit` diagnostic into a valid observation only when its
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way-selection type is `current`. Possible, predicted and extended ways, missing
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speed metadata, GPS/coverage loss and `matchedNoLimit` remain unknown or stale;
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they do not mean regulatory absence. The map provider rejects multiple plausible
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loaded-tile road IDs before selecting a current way and applies direction and
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one-way checks. Provider and offline-package admission remain with the Maps
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lifecycle and storage owners.
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Map output uses BOOTTIME nanoseconds on Linux. The runtime samples a paired
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MONOTONIC/BOOTTIME clock and passes BOOTTIME to the tracker; the clocks must not
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be interchanged after suspend. Apple uses monotonic as the host fallback.
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GPS observation, computation and output timestamps stay separate. External GPS
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fixes expire after 500 ms, internal fixes after 2 s and car fixes after 2.5 s;
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computation and output expire after 250 ms. V1 records remain decodable but cannot
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create a live candidate because their GPS clock domain was ambiguous.
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Unknown versions, conflicting status/limit fields, stale evidence and reordering
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cannot authorize a candidate. Source-generation changes clear held evidence.
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A source change without a generation change, generation regression, clock
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regression or excessive restarts fails closed until an explicit tracker reset;
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late packets from retired producers cannot restore a limit.
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The observation identity binds the current drive, vehicle, producer, source
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generation, GPS source and OSM way ID. It is not a durable identity for restoring
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a limit in a later drive. Freshness and a unique loaded-tile match do not establish
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real-road accuracy or current map metadata. Synthetic host tests verify these
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software gates; they do not qualify Maps on the vehicle.
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