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firestarsdog
57 lines
3.4 KiB
Markdown
57 lines
3.4 KiB
Markdown
# Source selection contract
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`selection.select_limit` chooses an observation for the acceptance reducer. It
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does not accept a speed, command a car, request an online provider, read settings
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or judge sensor health. `runtime.py` supplies the live source observations and
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`runtime_settings.py` translates saved choices. Adoption and car-control behavior
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are defined in the [controller contract](README.md).
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Each of dashboard, map, vision and online must supply an explicit `Observation`.
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Source adapters own normalized m/s, typed observation identity, freshness and eligibility.
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For example, vision support and its separate display/control filters must be
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resolved before this boundary. A missing producer is unknown; it is not proof
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that no limit was observed. The selector invents no expiry period or road identity.
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Geographic, producer-episode and session-value identities pass through unchanged.
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Selection checks their structure but owns no drive session; the acceptance reducer
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must verify session-value applicability against its current session before use.
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`SelectionPolicy` has an explicit mode, exactly two primary source slots and an
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online-fallback Boolean. A slot may be empty or repeat another slot. Online is
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never a primary slot. This module does not activate or translate preferences.
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| Mode | Primary candidates | Choice |
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| --- | --- | --- |
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| Ordered | Only the configured slots | First eligible valid observation |
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| Highest | Dashboard and map; vision only if present in either slot | Highest eligible value |
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| Lowest | Dashboard and map; vision only if present in either slot | Lowest eligible value |
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Equal extrema choose dashboard, then map, then vision, independent of input map
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iteration order. The minimum eligible limit is explicitly 1 m/s, inclusive.
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Smaller positive observations are reported in `below_minimum` and excluded;
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zero, negative, nonfinite or malformed valid candidates are input errors.
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The online observation is considered only if no configured primary is eligible
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and fallback is enabled. It cannot override a valid primary. An eligible
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secondary or online observation can replace an unavailable primary; all
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considered unavailable sources remain in the result. Disabled and unconfigured
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sources cannot create uncertainty in that choice.
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The live settings adapter disables online fallback; online providers do not
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authorize SLC commands.
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If no eligible alternative exists, the result retains unknown or stale state.
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Unknown takes precedence over stale, which takes precedence over absence; the
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full per-source statuses remain available. Explicit absence, exclusion below the
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minimum or an empty configured source set produces an absent result. Acceptance
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independently applies the saved previous-limit policy without changing those
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source statuses. Malformed input produces `invalid_input`, errors and
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an unknown observation without selecting a source.
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The tests include composition through the acceptance reducer: accepted 65 mph,
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proposed 45, driver rejection, then source loss and reconnect. Last accepted
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history remains 65 for both longitudinal-only and combined authority. The saved
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fallback policy controls whether acceptance exposes that historical target on
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source loss. Neither choice changes the already applied cruise SET or authorizes
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a new source-loss command. Lateral-only or stock ownership cannot turn a selected
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speed into a system longitudinal target. These are
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deterministic policy tests, not native producer, planner, CAN or vehicle evidence.
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